About This Spot

At the corner of a modest stretch in Morrisville, Taqueria Esmeralda unfolds like a beloved secret shared among friends. Approach this vibrant spot and you’ll immediately sense its unpretentious charm—it's not about flashy trimmings but the warmth that comes from a genuine connection to food and community. The hum of conversation mingles with the sizzle from the grill, setting a relaxed rhythm that invites you to slow down and savor the moment.

Here, the atmosphere carries the easygoing spirit of a casual local eatery where everyone from late-night wanderers to neighborhood regulars finds a spot beneath open skies or at a simple outdoor bench. The friendly banter from the staff and the steady flow of taco orders reveal an inviting pace—welcoming, familiar, and refreshingly straightforward.

The real delight lies in experiencing the food as a storytelling act rather than a checklist of dishes. Each bite brings a layering of tender, boldly seasoned meats folded into perfectly warm, double-layered corn tortillas, kissed by the crisp edge of a quick sear. Fresh cilantro and onions add a brightness, while dollops of salsa spark a gently puckering heat that feels just right—not overwhelming, but deeply satisfying. There’s an unspoken ritual here: arriving hungry, choosing your favorites, and letting the flavors speak of care, tradition, and simple joy.

Expect no frills, only generosity—in portion sizes and in spirit—making it the kind of place where a late-night craving can feel like a small celebration of flavor and community. The experience subtly reminds you why some of the best meals are earned in moments of patience, the friendly exchange with staff, and the discovery of something deeply comforting in humble surroundings.

What’s Available Here

  • IconOutdoor seating
  • IconTakeaway
  • IconDine-in
  • IconDelivery
  • IconFast service
  • IconLunch
  • IconDinner
  • IconSolo dining
  • IconWheelchair-accessible car park
  • IconComfort food
  • IconQuick bite
  • IconLunch
  • IconDinner
  • IconSeating
  • IconTable service
  • IconToilet
  • IconCasual
  • IconGroups
  • IconLocals
  • IconAccepts reservations
  • IconCash only
  • IconGood for kids
  • IconFree of charge street parking
  • IconFree parking lot
  • IconParking

Location & Hours

Monday 10:30 AM - 02:30 PM
Tuesday 10:30 AM - 02:30 PM
Wednesday 10:30 AM - 02:30 PM
Thursday 10:30 AM - 02:30 PM
Friday 10:30 AM - 02:30 PM
Saturday Closed
Sunday Closed

Guest Reviews

Ernesto L 09 Jan 2026

If you want tacos this is the place to go! Tacos are big and delicious. You do need cash but to me no biggy. Super recommendable.

Danielle 01 Jan 2026

Esmerelda is the sweetest! Those are some of the best steak tacos I've ever had!! Make sure you have cash. So worth it! Thank you for your kind service Will be a regular from now on!

David Chang 20 Nov 2025

This little taco truck has huge flavor. Total hole in the wall that's only known to locals. They take cash only, 2.50 a taco. Three tacos will be comfortable, four if you're pretty hungry. The barbacoa was my favorite. Double corn tortillas for each taco, the way it was meant to be. Crispy and greasy, not for vegetarians but so delicious.

Jake Henrich 14 Nov 2025

Taqueria Esmeralda is my new late-night go to, serving generous portions, so no matter if you’re drunk, sober with friends or flying solo, this place hits on all cylinders. Their Primo Burrito, is packed with juicy carne asada or al pastor, fresh cilantro, onions, and zesty salsa, bursts with bold taste. Affordable and massive, could easily serve two. Take out if you must but the humble outdoor setup, adds charm to the experience.

Brandon Hendry 06 Nov 2025

Currently having a spiritual experience with these tacos. Staff are super kind too. GETCHU SOME

Carlos Ramos 06 Oct 2025

Delicious tacos, great flavor and definitely good price, Food truck on the side of the road.

Melony Parham 01 Oct 2025

The best taco truck I’ve ever been to. This place hits different! Nicest lady serving food with a smile. $3 tacos. Cash only and make sure to tip because trust me it’s worth it and you will be back. Taco Tuesday’s won’t be the same now that Ive switched professions but if I have a weekday off, I know where I’m going for lunch! Recommendations: Al Pastor or my personal favorite: Barbacoa

Prasad Avula 26 Sep 2025

Tried their chicken tacos and pork tacos. Taste is very good and flavorful. Service was quick. I would definitely go back here again.

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